Related papers: A Path Planning Model for Intercepting a Moving Ta…
This paper examines the influence of initial guesses on trajectory planning for Unmanned Aerial Vehicles (UAVs) formulated in terms of Optimal Control Problem (OCP). The OCP is solved numerically using the Pseudospectral collocation method.…
In the present work, control of time-optimal trajectory for a Dubins airplane in presence of moving and fixed obstacles is obtained. We show that for a Dubins airplane with an initial position, the control variable can be obtained using the…
Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…
In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First,…
For unmanned aerial vehicle (UAV) trajectory design, the total propulsion energy consumption and initial-final location constraints are practical factors to consider. However, unlike traditional offline designs, these two constraints are…
With technological advancement, drone has emerged as unmanned aerial vehicle that can be controlled by humans to fly or reach a destination. This may be autonomous as well, where the drone itself is intelligent enough to find a shortest…
Navigating complex environments requires Unmanned Aerial Vehicles (UAVs) and autonomous systems to perform trajectory tracking and obstacle avoidance in real-time. While many control strategies have effectively utilized linear…
Engine failure is a recurring emergency in General Aviation and fixed-wing UAVs, often requiring the pilot or remote operator to carry out carefully planned glides to safely reach a candidate landing strip. We tackle the problem of…
In this paper, we study a cellular-enabled unmanned aerial vehicle (UAV) communication system consisting of one UAV and multiple ground base stations (GBSs). The UAV has a mission of flying from an initial location to a final location,…
Unmanned aerial vehicles (UAVs) have gained a lot of popularity in diverse wireless communication fields. They can act as high-altitude flying relays to support communications between ground nodes due to their ability to provide…
The proliferation of unmanned aerial vehicles (UAVs) in controlled airspace presents significant risks, including potential collisions, disruptions to air traffic, and security threats. Ensuring the safe and efficient operation of airspace,…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
In this article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated…
This paper is concerned with finding an optimal path for an observer, or sensor, moving at a constant speed, which is to estimate the position of a stationary target, using only bearing angle measurements. The generated path is optimal in…
Unmanned aerial vehicles (UAVs) are increasingly utilized in global search and rescue efforts, enhancing operational efficiency. In these missions, a coordinated swarm of UAVs is deployed to efficiently cover expansive areas by capturing…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
We propose a novel probabilistically robust controller for the guidance of an unmanned aerial vehicle (UAV) in coverage planning missions, which can simultaneously optimize both the UAV's motion, and camera control inputs for the 3D…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…
Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting…
This paper presents a new collision avoidance procedure for unmanned aerial vehicles in the presence of static and moving obstacles. The proposed procedure is based on a new form of local parametrized guidance vector fields, called…